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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">create_pose</span><span data-if="c" style="display:none;">T_create_pose</span><span data-if="cpp" style="display:none;">CreatePose</span><span data-if="dotnet" style="display:none;">CreatePose</span><span data-if="python" style="display:none;">create_pose</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">create_pose</span><span data-if="c" style="display:none;">T_create_pose</span><span data-if="cpp" style="display:none;">CreatePose</span><span data-if="dotnet" style="display:none;">CreatePose</span><span data-if="python" style="display:none;">create_pose</span></code> — Create a 3D pose.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>create_pose</b>( :  : <a href="#TransX"><i>TransX</i></a>, <a href="#TransY"><i>TransY</i></a>, <a href="#TransZ"><i>TransZ</i></a>, <a href="#RotX"><i>RotX</i></a>, <a href="#RotY"><i>RotY</i></a>, <a href="#RotZ"><i>RotZ</i></a>, <a href="#OrderOfTransform"><i>OrderOfTransform</i></a>, <a href="#OrderOfRotation"><i>OrderOfRotation</i></a>, <a href="#ViewOfTransform"><i>ViewOfTransform</i></a> : <a href="#Pose"><i>Pose</i></a>)</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_create_pose</b>(const Htuple <a href="#TransX"><i>TransX</i></a>, const Htuple <a href="#TransY"><i>TransY</i></a>, const Htuple <a href="#TransZ"><i>TransZ</i></a>, const Htuple <a href="#RotX"><i>RotX</i></a>, const Htuple <a href="#RotY"><i>RotY</i></a>, const Htuple <a href="#RotZ"><i>RotZ</i></a>, const Htuple <a href="#OrderOfTransform"><i>OrderOfTransform</i></a>, const Htuple <a href="#OrderOfRotation"><i>OrderOfRotation</i></a>, const Htuple <a href="#ViewOfTransform"><i>ViewOfTransform</i></a>, Htuple* <a href="#Pose"><i>Pose</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>CreatePose</b>(const HTuple&amp; <a href="#TransX"><i>TransX</i></a>, const HTuple&amp; <a href="#TransY"><i>TransY</i></a>, const HTuple&amp; <a href="#TransZ"><i>TransZ</i></a>, const HTuple&amp; <a href="#RotX"><i>RotX</i></a>, const HTuple&amp; <a href="#RotY"><i>RotY</i></a>, const HTuple&amp; <a href="#RotZ"><i>RotZ</i></a>, const HTuple&amp; <a href="#OrderOfTransform"><i>OrderOfTransform</i></a>, const HTuple&amp; <a href="#OrderOfRotation"><i>OrderOfRotation</i></a>, const HTuple&amp; <a href="#ViewOfTransform"><i>ViewOfTransform</i></a>, HTuple* <a href="#Pose"><i>Pose</i></a>)</code></p>
<p>
<code>void <a href="HPose.html">HPose</a>::<b>HPose</b>(double <a href="#TransX"><i>TransX</i></a>, double <a href="#TransY"><i>TransY</i></a>, double <a href="#TransZ"><i>TransZ</i></a>, double <a href="#RotX"><i>RotX</i></a>, double <a href="#RotY"><i>RotY</i></a>, double <a href="#RotZ"><i>RotZ</i></a>, const HString&amp; <a href="#OrderOfTransform"><i>OrderOfTransform</i></a>, const HString&amp; <a href="#OrderOfRotation"><i>OrderOfRotation</i></a>, const HString&amp; <a href="#ViewOfTransform"><i>ViewOfTransform</i></a>)</code></p>
<p>
<code>void <a href="HPose.html">HPose</a>::<b>HPose</b>(double <a href="#TransX"><i>TransX</i></a>, double <a href="#TransY"><i>TransY</i></a>, double <a href="#TransZ"><i>TransZ</i></a>, double <a href="#RotX"><i>RotX</i></a>, double <a href="#RotY"><i>RotY</i></a>, double <a href="#RotZ"><i>RotZ</i></a>, const char* <a href="#OrderOfTransform"><i>OrderOfTransform</i></a>, const char* <a href="#OrderOfRotation"><i>OrderOfRotation</i></a>, const char* <a href="#ViewOfTransform"><i>ViewOfTransform</i></a>)</code></p>
<p>
<code>void <a href="HPose.html">HPose</a>::<b>HPose</b>(double <a href="#TransX"><i>TransX</i></a>, double <a href="#TransY"><i>TransY</i></a>, double <a href="#TransZ"><i>TransZ</i></a>, double <a href="#RotX"><i>RotX</i></a>, double <a href="#RotY"><i>RotY</i></a>, double <a href="#RotZ"><i>RotZ</i></a>, const wchar_t* <a href="#OrderOfTransform"><i>OrderOfTransform</i></a>, const wchar_t* <a href="#OrderOfRotation"><i>OrderOfRotation</i></a>, const wchar_t* <a href="#ViewOfTransform"><i>ViewOfTransform</i></a>)  <span class="signnote">
            (
            Windows only)
          </span></code></p>
<p>
<code>void <a href="HPose.html">HPose</a>::<b>CreatePose</b>(double <a href="#TransX"><i>TransX</i></a>, double <a href="#TransY"><i>TransY</i></a>, double <a href="#TransZ"><i>TransZ</i></a>, double <a href="#RotX"><i>RotX</i></a>, double <a href="#RotY"><i>RotY</i></a>, double <a href="#RotZ"><i>RotZ</i></a>, const HString&amp; <a href="#OrderOfTransform"><i>OrderOfTransform</i></a>, const HString&amp; <a href="#OrderOfRotation"><i>OrderOfRotation</i></a>, const HString&amp; <a href="#ViewOfTransform"><i>ViewOfTransform</i></a>)</code></p>
<p>
<code>void <a href="HPose.html">HPose</a>::<b>CreatePose</b>(double <a href="#TransX"><i>TransX</i></a>, double <a href="#TransY"><i>TransY</i></a>, double <a href="#TransZ"><i>TransZ</i></a>, double <a href="#RotX"><i>RotX</i></a>, double <a href="#RotY"><i>RotY</i></a>, double <a href="#RotZ"><i>RotZ</i></a>, const char* <a href="#OrderOfTransform"><i>OrderOfTransform</i></a>, const char* <a href="#OrderOfRotation"><i>OrderOfRotation</i></a>, const char* <a href="#ViewOfTransform"><i>ViewOfTransform</i></a>)</code></p>
<p>
<code>void <a href="HPose.html">HPose</a>::<b>CreatePose</b>(double <a href="#TransX"><i>TransX</i></a>, double <a href="#TransY"><i>TransY</i></a>, double <a href="#TransZ"><i>TransZ</i></a>, double <a href="#RotX"><i>RotX</i></a>, double <a href="#RotY"><i>RotY</i></a>, double <a href="#RotZ"><i>RotZ</i></a>, const wchar_t* <a href="#OrderOfTransform"><i>OrderOfTransform</i></a>, const wchar_t* <a href="#OrderOfRotation"><i>OrderOfRotation</i></a>, const wchar_t* <a href="#ViewOfTransform"><i>ViewOfTransform</i></a>)  <span class="signnote">
            (
            Windows only)
          </span></code></p>
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<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>CreatePose</b>(<a href="HTuple.html">HTuple</a> <a href="#TransX"><i>transX</i></a>, <a href="HTuple.html">HTuple</a> <a href="#TransY"><i>transY</i></a>, <a href="HTuple.html">HTuple</a> <a href="#TransZ"><i>transZ</i></a>, <a href="HTuple.html">HTuple</a> <a href="#RotX"><i>rotX</i></a>, <a href="HTuple.html">HTuple</a> <a href="#RotY"><i>rotY</i></a>, <a href="HTuple.html">HTuple</a> <a href="#RotZ"><i>rotZ</i></a>, <a href="HTuple.html">HTuple</a> <a href="#OrderOfTransform"><i>orderOfTransform</i></a>, <a href="HTuple.html">HTuple</a> <a href="#OrderOfRotation"><i>orderOfRotation</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ViewOfTransform"><i>viewOfTransform</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Pose"><i>pose</i></a>)</code></p>
<p>
<code>public <a href="HPose.html">HPose</a>(double <a href="#TransX"><i>transX</i></a>, double <a href="#TransY"><i>transY</i></a>, double <a href="#TransZ"><i>transZ</i></a>, double <a href="#RotX"><i>rotX</i></a>, double <a href="#RotY"><i>rotY</i></a>, double <a href="#RotZ"><i>rotZ</i></a>, string <a href="#OrderOfTransform"><i>orderOfTransform</i></a>, string <a href="#OrderOfRotation"><i>orderOfRotation</i></a>, string <a href="#ViewOfTransform"><i>viewOfTransform</i></a>)</code></p>
<p>
<code>void <a href="HPose.html">HPose</a>.<b>CreatePose</b>(double <a href="#TransX"><i>transX</i></a>, double <a href="#TransY"><i>transY</i></a>, double <a href="#TransZ"><i>transZ</i></a>, double <a href="#RotX"><i>rotX</i></a>, double <a href="#RotY"><i>rotY</i></a>, double <a href="#RotZ"><i>rotZ</i></a>, string <a href="#OrderOfTransform"><i>orderOfTransform</i></a>, string <a href="#OrderOfRotation"><i>orderOfRotation</i></a>, string <a href="#ViewOfTransform"><i>viewOfTransform</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>create_pose</b>(<a href="#TransX"><i>trans_x</i></a>: float, <a href="#TransY"><i>trans_y</i></a>: float, <a href="#TransZ"><i>trans_z</i></a>: float, <a href="#RotX"><i>rot_x</i></a>: float, <a href="#RotY"><i>rot_y</i></a>: float, <a href="#RotZ"><i>rot_z</i></a>: float, <a href="#OrderOfTransform"><i>order_of_transform</i></a>: str, <a href="#OrderOfRotation"><i>order_of_rotation</i></a>: str, <a href="#ViewOfTransform"><i>view_of_transform</i></a>: str) -&gt; Sequence[Union[int, float]]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p><code><span data-if="hdevelop" style="display:inline">create_pose</span><span data-if="c" style="display:none">create_pose</span><span data-if="cpp" style="display:none">CreatePose</span><span data-if="com" style="display:none">CreatePose</span><span data-if="dotnet" style="display:none">CreatePose</span><span data-if="python" style="display:none">create_pose</span></code> creates the 3D pose <a href="#Pose"><i><code><span data-if="hdevelop" style="display:inline">Pose</span><span data-if="c" style="display:none">Pose</span><span data-if="cpp" style="display:none">Pose</span><span data-if="com" style="display:none">Pose</span><span data-if="dotnet" style="display:none">pose</span><span data-if="python" style="display:none">pose</span></code></i></a>.  A pose describes a
rigid 3D transformation, i.e., a transformation consisting of an arbitrary
translation and rotation, with 6 parameters: <a href="#TransX"><i><code><span data-if="hdevelop" style="display:inline">TransX</span><span data-if="c" style="display:none">TransX</span><span data-if="cpp" style="display:none">TransX</span><span data-if="com" style="display:none">TransX</span><span data-if="dotnet" style="display:none">transX</span><span data-if="python" style="display:none">trans_x</span></code></i></a>,
<a href="#TransY"><i><code><span data-if="hdevelop" style="display:inline">TransY</span><span data-if="c" style="display:none">TransY</span><span data-if="cpp" style="display:none">TransY</span><span data-if="com" style="display:none">TransY</span><span data-if="dotnet" style="display:none">transY</span><span data-if="python" style="display:none">trans_y</span></code></i></a>, and <a href="#TransZ"><i><code><span data-if="hdevelop" style="display:inline">TransZ</span><span data-if="c" style="display:none">TransZ</span><span data-if="cpp" style="display:none">TransZ</span><span data-if="com" style="display:none">TransZ</span><span data-if="dotnet" style="display:none">transZ</span><span data-if="python" style="display:none">trans_z</span></code></i></a> specify the translation along the x-,
y-, and z-axis, respectively, while <a href="#RotX"><i><code><span data-if="hdevelop" style="display:inline">RotX</span><span data-if="c" style="display:none">RotX</span><span data-if="cpp" style="display:none">RotX</span><span data-if="com" style="display:none">RotX</span><span data-if="dotnet" style="display:none">rotX</span><span data-if="python" style="display:none">rot_x</span></code></i></a>, <a href="#RotY"><i><code><span data-if="hdevelop" style="display:inline">RotY</span><span data-if="c" style="display:none">RotY</span><span data-if="cpp" style="display:none">RotY</span><span data-if="com" style="display:none">RotY</span><span data-if="dotnet" style="display:none">rotY</span><span data-if="python" style="display:none">rot_y</span></code></i></a>, and
<a href="#RotZ"><i><code><span data-if="hdevelop" style="display:inline">RotZ</span><span data-if="c" style="display:none">RotZ</span><span data-if="cpp" style="display:none">RotZ</span><span data-if="com" style="display:none">RotZ</span><span data-if="dotnet" style="display:none">rotZ</span><span data-if="python" style="display:none">rot_z</span></code></i></a> describe the rotation.
</p>
<p>3D poses are typically used in two ways: First, to describe the position and
orientation of one coordinate system relative to another (e.g., the pose of a
part's coordinate system relative to the camera coordinate system - in short:
the pose of the part relative to the camera) and secondly, to describe how
coordinates can be transformed between two coordinate systems (e.g., to
transform points from part coordinates into camera coordinates).
</p>
<h3>Representation of orientation (rotation)</h3>
<p>A 3D rotation around an arbitrary axis can be represented by 3 parameters in
multiple ways. HALCON lets you choose between three of them with the
parameter <a href="#OrderOfRotation"><i><code><span data-if="hdevelop" style="display:inline">OrderOfRotation</span><span data-if="c" style="display:none">OrderOfRotation</span><span data-if="cpp" style="display:none">OrderOfRotation</span><span data-if="com" style="display:none">OrderOfRotation</span><span data-if="dotnet" style="display:none">orderOfRotation</span><span data-if="python" style="display:none">order_of_rotation</span></code></i></a>: If you pass the value <i><span data-if="hdevelop" style="display:inline">'gba'</span><span data-if="c" style="display:none">"gba"</span><span data-if="cpp" style="display:none">"gba"</span><span data-if="com" style="display:none">"gba"</span><span data-if="dotnet" style="display:none">"gba"</span><span data-if="python" style="display:none">"gba"</span></i>, the
rotation is described by the following chain of rotations around the three
axes (see <a href="hom_mat3d_rotate.html"><code><span data-if="hdevelop" style="display:inline">hom_mat3d_rotate</span><span data-if="c" style="display:none">hom_mat3d_rotate</span><span data-if="cpp" style="display:none">HomMat3dRotate</span><span data-if="com" style="display:none">HomMat3dRotate</span><span data-if="dotnet" style="display:none">HomMat3dRotate</span><span data-if="python" style="display:none">hom_mat3d_rotate</span></code></a> for the content for the rotation matrices
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</p>
<p><span title="3" style="vertical-align:-0.394339em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="2.23128em" height="1.09359em" viewBox="0 0 35.700439 17.497498">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,13.914169 13.579132)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,20.533203 13.579132)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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</svg></span> is referred to
as the Yaw-Pitch-Roll convention in the literature.
Please note that you can “read” this chain in two ways: If you start from
the right, the rotations are always performed relative to the global (i.e.,
fixed or “old”) coordinate system. Thus,
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.165771 11.188080)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,13.914169 13.579132)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,20.533203 13.579132)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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</svg></span> can be read as follows:
First rotate around the z-axis, then around the “old” y-axis, and finally
around the “old” x-axis. In contrast, if you read from the left to the
right, the rotations are performed relative to the local (i.e., “new”)
coordinate system. Then, <span title="5" style="vertical-align:-0.394339em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="2.23128em" height="1.09359em" viewBox="0 0 35.700439 17.497498">
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corresponds to the following: First rotate around the x-axis, the around the
“new” y-axis, and finally around the “new(est)” z-axis.
</p>
<p>Reading <span title="6" style="vertical-align:-0.394339em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="2.23128em" height="1.09359em" viewBox="0 0 35.700439 17.497498">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.165771 11.188080)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,13.914169 13.579132)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,20.533203 13.579132)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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left corresponds to the following sequence of operator calls:
</p>
<div style="text-align:center"><table style="width:90%;margin-left:auto;margin-right:auto" class="layout">
<col span="1" style="width:90%;">
<tr><td style="text-align:left">
<a href="hom_mat3d_identity.html"><code><span data-if="hdevelop" style="display:inline">hom_mat3d_identity(HomMat3DIdent)</span><span data-if="c" style="display:none">hom_mat3d_identity(HomMat3DIdent)</span><span data-if="cpp" style="display:none">HomMat3dIdentity(HomMat3DIdent)</span><span data-if="com" style="display:none">HomMat3dIdentity(HomMat3DIdent)</span><span data-if="dotnet" style="display:none">HomMat3dIdentity(HomMat3DIdent)</span><span data-if="python" style="display:none">hom_mat3d_identity(HomMat3DIdent)</span></code></a>
</td></tr>
<tr><td style="text-align:left">
<a href="hom_mat3d_rotate.html"><code><span data-if="hdevelop" style="display:inline">hom_mat3d_rotate(HomMat3DIdent, RotZ, 'z', 0, 0, 0, HomMat3DRotZ)</span><span data-if="c" style="display:none">hom_mat3d_rotate(HomMat3DIdent, RotZ, "z", 0, 0, 0, HomMat3DRotZ)</span><span data-if="cpp" style="display:none">HomMat3dRotate(HomMat3DIdent, RotZ, "z", 0, 0, 0, HomMat3DRotZ)</span><span data-if="com" style="display:none">HomMat3dRotate(HomMat3DIdent, RotZ, "z", 0, 0, 0, HomMat3DRotZ)</span><span data-if="dotnet" style="display:none">HomMat3dRotate(HomMat3DIdent, RotZ, "z", 0, 0, 0, HomMat3DRotZ)</span><span data-if="python" style="display:none">hom_mat3d_rotate(HomMat3DIdent, RotZ, "z", 0, 0, 0, HomMat3DRotZ)</span></code></a>
</td></tr>
<tr><td style="text-align:left">
<a href="hom_mat3d_rotate.html"><code><span data-if="hdevelop" style="display:inline">hom_mat3d_rotate(HomMat3DRotZ, RotY, 'y', 0, 0, 0, HomMat3DRotYZ)</span><span data-if="c" style="display:none">hom_mat3d_rotate(HomMat3DRotZ, RotY, "y", 0, 0, 0, HomMat3DRotYZ)</span><span data-if="cpp" style="display:none">HomMat3dRotate(HomMat3DRotZ, RotY, "y", 0, 0, 0, HomMat3DRotYZ)</span><span data-if="com" style="display:none">HomMat3dRotate(HomMat3DRotZ, RotY, "y", 0, 0, 0, HomMat3DRotYZ)</span><span data-if="dotnet" style="display:none">HomMat3dRotate(HomMat3DRotZ, RotY, "y", 0, 0, 0, HomMat3DRotYZ)</span><span data-if="python" style="display:none">hom_mat3d_rotate(HomMat3DRotZ, RotY, "y", 0, 0, 0, HomMat3DRotYZ)</span></code></a>
</td></tr>
<tr><td style="text-align:left">
<a href="hom_mat3d_rotate.html"><code><span data-if="hdevelop" style="display:inline">hom_mat3d_rotate(HomMat3DRotYZ, RotX, 'x', 0, 0, 0, HomMat3DXYZ)</span><span data-if="c" style="display:none">hom_mat3d_rotate(HomMat3DRotYZ, RotX, "x", 0, 0, 0, HomMat3DXYZ)</span><span data-if="cpp" style="display:none">HomMat3dRotate(HomMat3DRotYZ, RotX, "x", 0, 0, 0, HomMat3DXYZ)</span><span data-if="com" style="display:none">HomMat3dRotate(HomMat3DRotYZ, RotX, "x", 0, 0, 0, HomMat3DXYZ)</span><span data-if="dotnet" style="display:none">HomMat3dRotate(HomMat3DRotYZ, RotX, "x", 0, 0, 0, HomMat3DXYZ)</span><span data-if="python" style="display:none">hom_mat3d_rotate(HomMat3DRotYZ, RotX, "x", 0, 0, 0, HomMat3DXYZ)</span></code></a>
</td></tr>
</table></div>
<p>In contrast, reading from left to right corresponds to the following operator
sequence:
</p>
<div style="text-align:center"><table style="width:90%;margin-left:auto;margin-right:auto" class="layout">
<col span="1" style="width:90%;">
<tr><td style="text-align:left">
<a href="hom_mat3d_identity.html"><code><span data-if="hdevelop" style="display:inline">hom_mat3d_identity(HomMat3DIdent)</span><span data-if="c" style="display:none">hom_mat3d_identity(HomMat3DIdent)</span><span data-if="cpp" style="display:none">HomMat3dIdentity(HomMat3DIdent)</span><span data-if="com" style="display:none">HomMat3dIdentity(HomMat3DIdent)</span><span data-if="dotnet" style="display:none">HomMat3dIdentity(HomMat3DIdent)</span><span data-if="python" style="display:none">hom_mat3d_identity(HomMat3DIdent)</span></code></a>
</td></tr>
<tr><td style="text-align:left">
<a href="hom_mat3d_rotate_local.html"><code><span data-if="hdevelop" style="display:inline">hom_mat3d_rotate_local(HomMat3DIdent, RotX, 'x', HomMat3DRotX)</span><span data-if="c" style="display:none">hom_mat3d_rotate_local(HomMat3DIdent, RotX, "x", HomMat3DRotX)</span><span data-if="cpp" style="display:none">HomMat3dRotateLocal(HomMat3DIdent, RotX, "x", HomMat3DRotX)</span><span data-if="com" style="display:none">HomMat3dRotateLocal(HomMat3DIdent, RotX, "x", HomMat3DRotX)</span><span data-if="dotnet" style="display:none">HomMat3dRotateLocal(HomMat3DIdent, RotX, "x", HomMat3DRotX)</span><span data-if="python" style="display:none">hom_mat3d_rotate_local(HomMat3DIdent, RotX, "x", HomMat3DRotX)</span></code></a>
</td></tr>
<tr><td style="text-align:left">
<a href="hom_mat3d_rotate_local.html"><code><span data-if="hdevelop" style="display:inline">hom_mat3d_rotate_local(HomMat3DRotX, RotY, 'y', HomMat3DRotXY)</span><span data-if="c" style="display:none">hom_mat3d_rotate_local(HomMat3DRotX, RotY, "y", HomMat3DRotXY)</span><span data-if="cpp" style="display:none">HomMat3dRotateLocal(HomMat3DRotX, RotY, "y", HomMat3DRotXY)</span><span data-if="com" style="display:none">HomMat3dRotateLocal(HomMat3DRotX, RotY, "y", HomMat3DRotXY)</span><span data-if="dotnet" style="display:none">HomMat3dRotateLocal(HomMat3DRotX, RotY, "y", HomMat3DRotXY)</span><span data-if="python" style="display:none">hom_mat3d_rotate_local(HomMat3DRotX, RotY, "y", HomMat3DRotXY)</span></code></a>
</td></tr>
<tr><td style="text-align:left">
<a href="hom_mat3d_rotate_local.html"><code><span data-if="hdevelop" style="display:inline">hom_mat3d_rotate_local(HomMat3DRotXY, RotZ, 'z', HomMat3DXYZ)</span><span data-if="c" style="display:none">hom_mat3d_rotate_local(HomMat3DRotXY, RotZ, "z", HomMat3DXYZ)</span><span data-if="cpp" style="display:none">HomMat3dRotateLocal(HomMat3DRotXY, RotZ, "z", HomMat3DXYZ)</span><span data-if="com" style="display:none">HomMat3dRotateLocal(HomMat3DRotXY, RotZ, "z", HomMat3DXYZ)</span><span data-if="dotnet" style="display:none">HomMat3dRotateLocal(HomMat3DRotXY, RotZ, "z", HomMat3DXYZ)</span><span data-if="python" style="display:none">hom_mat3d_rotate_local(HomMat3DRotXY, RotZ, "z", HomMat3DXYZ)</span></code></a>
</td></tr>
</table></div>
<p>When passing <i><span data-if="hdevelop" style="display:inline">'abg'</span><span data-if="c" style="display:none">"abg"</span><span data-if="cpp" style="display:none">"abg"</span><span data-if="com" style="display:none">"abg"</span><span data-if="dotnet" style="display:none">"abg"</span><span data-if="python" style="display:none">"abg"</span></i> in <a href="#OrderOfRotation"><i><code><span data-if="hdevelop" style="display:inline">OrderOfRotation</span><span data-if="c" style="display:none">OrderOfRotation</span><span data-if="cpp" style="display:none">OrderOfRotation</span><span data-if="com" style="display:none">OrderOfRotation</span><span data-if="dotnet" style="display:none">orderOfRotation</span><span data-if="python" style="display:none">order_of_rotation</span></code></i></a>, the rotation
corresponds to the following chain:
</p>
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as the Roll-Pitch-Yaw convention in the literature.
</p>
<p>If you pass <i><span data-if="hdevelop" style="display:inline">'rodriguez'</span><span data-if="c" style="display:none">"rodriguez"</span><span data-if="cpp" style="display:none">"rodriguez"</span><span data-if="com" style="display:none">"rodriguez"</span><span data-if="dotnet" style="display:none">"rodriguez"</span><span data-if="python" style="display:none">"rodriguez"</span></i> in <a href="#OrderOfRotation"><i><code><span data-if="hdevelop" style="display:inline">OrderOfRotation</span><span data-if="c" style="display:none">OrderOfRotation</span><span data-if="cpp" style="display:none">OrderOfRotation</span><span data-if="com" style="display:none">OrderOfRotation</span><span data-if="dotnet" style="display:none">orderOfRotation</span><span data-if="python" style="display:none">order_of_rotation</span></code></i></a>, the rotation
parameters <a href="#RotX"><i><code><span data-if="hdevelop" style="display:inline">RotX</span><span data-if="c" style="display:none">RotX</span><span data-if="cpp" style="display:none">RotX</span><span data-if="com" style="display:none">RotX</span><span data-if="dotnet" style="display:none">rotX</span><span data-if="python" style="display:none">rot_x</span></code></i></a>, <a href="#RotY"><i><code><span data-if="hdevelop" style="display:inline">RotY</span><span data-if="c" style="display:none">RotY</span><span data-if="cpp" style="display:none">RotY</span><span data-if="com" style="display:none">RotY</span><span data-if="dotnet" style="display:none">rotY</span><span data-if="python" style="display:none">rot_y</span></code></i></a>, and <a href="#RotZ"><i><code><span data-if="hdevelop" style="display:inline">RotZ</span><span data-if="c" style="display:none">RotZ</span><span data-if="cpp" style="display:none">RotZ</span><span data-if="com" style="display:none">RotZ</span><span data-if="dotnet" style="display:none">rotZ</span><span data-if="python" style="display:none">rot_z</span></code></i></a> are interpreted as
the x-, y-, and z-component of the so-called Rodriguez rotation vector. The
direction of the vector defines the (arbitrary) axis of rotation.  The length
of the vector usually defines the rotation angle with positive orientation.
Here, a variation of the Rodriguez vector is used, where the length of the
vector defines the tangent of half the rotation angle:
</p>
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<p>Please note that these 3D poses can be ambiguous, meaning a homogeneous
transformation matrix can have several pose representations.
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the following poses correspond to the same homogeneous transformation
matrix:
</p>
<div style="text-align:center"><table style="width:90%;margin-left:auto;margin-right:auto" class="layout">
<col span="1" style="width:90%;">
<tr><td style="text-align:left">
<code><span data-if="hdevelop" style="display:inline">create_pose(0, 0, 0, 30, 90, 54, 'Rp+T', 'gba', 'point', Pose1)</span><span data-if="c" style="display:none">create_pose(0, 0, 0, 30, 90, 54, "Rp+T", "gba", "point", Pose1)</span><span data-if="cpp" style="display:none">CreatePose(0, 0, 0, 30, 90, 54, "Rp+T", "gba", "point", Pose1)</span><span data-if="com" style="display:none">CreatePose(0, 0, 0, 30, 90, 54, "Rp+T", "gba", "point", Pose1)</span><span data-if="dotnet" style="display:none">CreatePose(0, 0, 0, 30, 90, 54, "Rp+T", "gba", "point", Pose1)</span><span data-if="python" style="display:none">create_pose(0, 0, 0, 30, 90, 54, "Rp+T", "gba", "point", Pose1)</span></code>
</td></tr>
<tr><td style="text-align:left">
<code><span data-if="hdevelop" style="display:inline">create_pose(0, 0, 0, 17, 90, 67, 'Rp+T', 'gba', 'point', Pose2)</span><span data-if="c" style="display:none">create_pose(0, 0, 0, 17, 90, 67, "Rp+T", "gba", "point", Pose2)</span><span data-if="cpp" style="display:none">CreatePose(0, 0, 0, 17, 90, 67, "Rp+T", "gba", "point", Pose2)</span><span data-if="com" style="display:none">CreatePose(0, 0, 0, 17, 90, 67, "Rp+T", "gba", "point", Pose2)</span><span data-if="dotnet" style="display:none">CreatePose(0, 0, 0, 17, 90, 67, "Rp+T", "gba", "point", Pose2)</span><span data-if="python" style="display:none">create_pose(0, 0, 0, 17, 90, 67, "Rp+T", "gba", "point", Pose2)</span></code>
</td></tr>
</table></div>
<p>If this leads to problems, you can instead use homogeneous transformation
matrices or quaternions (<a href="axis_angle_to_quat.html"><code><span data-if="hdevelop" style="display:inline">axis_angle_to_quat</span><span data-if="c" style="display:none">axis_angle_to_quat</span><span data-if="cpp" style="display:none">AxisAngleToQuat</span><span data-if="com" style="display:none">AxisAngleToQuat</span><span data-if="dotnet" style="display:none">AxisAngleToQuat</span><span data-if="python" style="display:none">axis_angle_to_quat</span></code></a>) to represent rotations.
</p>
<h3>Corresponding homogeneous transformation matrix</h3>
<p>You can obtain the homogeneous transformation matrix corresponding to a pose
with 该算子 <a href="pose_to_hom_mat3d.html"><code><span data-if="hdevelop" style="display:inline">pose_to_hom_mat3d</span><span data-if="c" style="display:none">pose_to_hom_mat3d</span><span data-if="cpp" style="display:none">PoseToHomMat3d</span><span data-if="com" style="display:none">PoseToHomMat3d</span><span data-if="dotnet" style="display:none">PoseToHomMat3d</span><span data-if="python" style="display:none">pose_to_hom_mat3d</span></code></a>. In the standard definition, this
is the following homogeneous transformation matrix which can be split into
two separate matrices, one for the translation
(H(T)) and one for the rotation
(H(R)):
</p>
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</p>
<h3>Transformation of coordinates</h3>
<p>The following equation describes how a point can be transformed from
coordinate system 1 (<i>cs</i>1) into coordinate system 2 (<i>cs</i>2)
with a pose, or more exactly, with the corresponding homogeneous
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(input and output points as homogeneous vectors, see also
<a href="affine_trans_point_3d.html"><code><span data-if="hdevelop" style="display:inline">affine_trans_point_3d</span><span data-if="c" style="display:none">affine_trans_point_3d</span><span data-if="cpp" style="display:none">AffineTransPoint3d</span><span data-if="com" style="display:none">AffineTransPoint3d</span><span data-if="dotnet" style="display:none">AffineTransPoint3d</span><span data-if="python" style="display:none">affine_trans_point_3d</span></code></a>). Note that to transform points from
<i>cs</i>1 into <i>cs</i>2, you use the transformation matrix that
describes the pose of <i>cs</i>1 relative to <i>cs</i>2.
</p>
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</p>This corresponds to the following operator calls:
<div style="text-align:center"><table style="width:90%;margin-left:auto;margin-right:auto" class="layout">
<col span="1" style="width:90%;">
<tr><td style="text-align:left">
<a href="pose_to_hom_mat3d.html"><code><span data-if="hdevelop" style="display:inline">pose_to_hom_mat3d(PoseOf1In2, HomMat3DFrom1In2)</span><span data-if="c" style="display:none">pose_to_hom_mat3d(PoseOf1In2, HomMat3DFrom1In2)</span><span data-if="cpp" style="display:none">PoseToHomMat3d(PoseOf1In2, HomMat3DFrom1In2)</span><span data-if="com" style="display:none">PoseToHomMat3d(PoseOf1In2, HomMat3DFrom1In2)</span><span data-if="dotnet" style="display:none">PoseToHomMat3d(PoseOf1In2, HomMat3DFrom1In2)</span><span data-if="python" style="display:none">pose_to_hom_mat3d(PoseOf1In2, HomMat3DFrom1In2)</span></code></a>
</td></tr>
<tr><td style="text-align:left">
<a href="affine_trans_point_3d.html"><code><span data-if="hdevelop" style="display:inline">affine_trans_point_3d(HomMat3DFrom1In2, P1X, P1Y, P1Z, P2X, P2Y, P2Z)</span><span data-if="c" style="display:none">affine_trans_point_3d(HomMat3DFrom1In2, P1X, P1Y, P1Z, P2X, P2Y, P2Z)</span><span data-if="cpp" style="display:none">AffineTransPoint3d(HomMat3DFrom1In2, P1X, P1Y, P1Z, P2X, P2Y, P2Z)</span><span data-if="com" style="display:none">AffineTransPoint3d(HomMat3DFrom1In2, P1X, P1Y, P1Z, P2X, P2Y, P2Z)</span><span data-if="dotnet" style="display:none">AffineTransPoint3d(HomMat3DFrom1In2, P1X, P1Y, P1Z, P2X, P2Y, P2Z)</span><span data-if="python" style="display:none">affine_trans_point_3d(HomMat3DFrom1In2, P1X, P1Y, P1Z, P2X, P2Y, P2Z)</span></code></a>
</td></tr>
</table></div>
<h3>Non-standard pose definitions</h3>
<p>So far, we described the standard pose definition. To create such poses, you
select the (default) values <i><span data-if="hdevelop" style="display:inline">'Rp+T'</span><span data-if="c" style="display:none">"Rp+T"</span><span data-if="cpp" style="display:none">"Rp+T"</span><span data-if="com" style="display:none">"Rp+T"</span><span data-if="dotnet" style="display:none">"Rp+T"</span><span data-if="python" style="display:none">"Rp+T"</span></i> for the parameter
<a href="#OrderOfTransform"><i><code><span data-if="hdevelop" style="display:inline">OrderOfTransform</span><span data-if="c" style="display:none">OrderOfTransform</span><span data-if="cpp" style="display:none">OrderOfTransform</span><span data-if="com" style="display:none">OrderOfTransform</span><span data-if="dotnet" style="display:none">orderOfTransform</span><span data-if="python" style="display:none">order_of_transform</span></code></i></a> and <i><span data-if="hdevelop" style="display:inline">'point'</span><span data-if="c" style="display:none">"point"</span><span data-if="cpp" style="display:none">"point"</span><span data-if="com" style="display:none">"point"</span><span data-if="dotnet" style="display:none">"point"</span><span data-if="python" style="display:none">"point"</span></i> for <a href="#ViewOfTransform"><i><code><span data-if="hdevelop" style="display:inline">ViewOfTransform</span><span data-if="c" style="display:none">ViewOfTransform</span><span data-if="cpp" style="display:none">ViewOfTransform</span><span data-if="com" style="display:none">ViewOfTransform</span><span data-if="dotnet" style="display:none">viewOfTransform</span><span data-if="python" style="display:none">view_of_transform</span></code></i></a>.
By specifying other values for these parameters, you can create non-standard
poses types which we describe briefly below. Please note that these
representation types are only supported for backwards compatibility; we
strongly recommend to use the standard types.
</p>
<p>If you select <i><span data-if="hdevelop" style="display:inline">'R(p-T)'</span><span data-if="c" style="display:none">"R(p-T)"</span><span data-if="cpp" style="display:none">"R(p-T)"</span><span data-if="com" style="display:none">"R(p-T)"</span><span data-if="dotnet" style="display:none">"R(p-T)"</span><span data-if="python" style="display:none">"R(p-T)"</span></i> for <a href="#OrderOfTransform"><i><code><span data-if="hdevelop" style="display:inline">OrderOfTransform</span><span data-if="c" style="display:none">OrderOfTransform</span><span data-if="cpp" style="display:none">OrderOfTransform</span><span data-if="com" style="display:none">OrderOfTransform</span><span data-if="dotnet" style="display:none">orderOfTransform</span><span data-if="python" style="display:none">order_of_transform</span></code></i></a>, the created
pose corresponds to the following chain of transformations, i.e., the
sequence of rotation and translation is reversed and the translation is
negated:
</p>
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<p>If you select <i><span data-if="hdevelop" style="display:inline">'coordinate_system'</span><span data-if="c" style="display:none">"coordinate_system"</span><span data-if="cpp" style="display:none">"coordinate_system"</span><span data-if="com" style="display:none">"coordinate_system"</span><span data-if="dotnet" style="display:none">"coordinate_system"</span><span data-if="python" style="display:none">"coordinate_system"</span></i> for <a href="#ViewOfTransform"><i><code><span data-if="hdevelop" style="display:inline">ViewOfTransform</span><span data-if="c" style="display:none">ViewOfTransform</span><span data-if="cpp" style="display:none">ViewOfTransform</span><span data-if="com" style="display:none">ViewOfTransform</span><span data-if="dotnet" style="display:none">viewOfTransform</span><span data-if="python" style="display:none">view_of_transform</span></code></i></a>, the
sequence of transformations remains constant, but the rotation angles are
negated. Please note that, contrary to its name, this is not equivalent to
transforming a coordinate system!
</p>
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</p>
<h3>Returned data structure</h3>
<p>The created 3D pose is returned in <a href="#Pose"><i><code><span data-if="hdevelop" style="display:inline">Pose</span><span data-if="c" style="display:none">Pose</span><span data-if="cpp" style="display:none">Pose</span><span data-if="com" style="display:none">Pose</span><span data-if="dotnet" style="display:none">pose</span><span data-if="python" style="display:none">pose</span></code></i></a> which is a tuple of length
seven.  The first three elements hold the translation parameters
<a href="#TransX"><i><code><span data-if="hdevelop" style="display:inline">TransX</span><span data-if="c" style="display:none">TransX</span><span data-if="cpp" style="display:none">TransX</span><span data-if="com" style="display:none">TransX</span><span data-if="dotnet" style="display:none">transX</span><span data-if="python" style="display:none">trans_x</span></code></i></a>, <a href="#TransY"><i><code><span data-if="hdevelop" style="display:inline">TransY</span><span data-if="c" style="display:none">TransY</span><span data-if="cpp" style="display:none">TransY</span><span data-if="com" style="display:none">TransY</span><span data-if="dotnet" style="display:none">transY</span><span data-if="python" style="display:none">trans_y</span></code></i></a>, and <a href="#TransZ"><i><code><span data-if="hdevelop" style="display:inline">TransZ</span><span data-if="c" style="display:none">TransZ</span><span data-if="cpp" style="display:none">TransZ</span><span data-if="com" style="display:none">TransZ</span><span data-if="dotnet" style="display:none">transZ</span><span data-if="python" style="display:none">trans_z</span></code></i></a>, followed by the
rotation parameters <a href="#RotX"><i><code><span data-if="hdevelop" style="display:inline">RotX</span><span data-if="c" style="display:none">RotX</span><span data-if="cpp" style="display:none">RotX</span><span data-if="com" style="display:none">RotX</span><span data-if="dotnet" style="display:none">rotX</span><span data-if="python" style="display:none">rot_x</span></code></i></a>, <a href="#RotY"><i><code><span data-if="hdevelop" style="display:inline">RotY</span><span data-if="c" style="display:none">RotY</span><span data-if="cpp" style="display:none">RotY</span><span data-if="com" style="display:none">RotY</span><span data-if="dotnet" style="display:none">rotY</span><span data-if="python" style="display:none">rot_y</span></code></i></a>, and <a href="#RotZ"><i><code><span data-if="hdevelop" style="display:inline">RotZ</span><span data-if="c" style="display:none">RotZ</span><span data-if="cpp" style="display:none">RotZ</span><span data-if="com" style="display:none">RotZ</span><span data-if="dotnet" style="display:none">rotZ</span><span data-if="python" style="display:none">rot_z</span></code></i></a>. The last
element codes the representation type of the pose that you selected with
the parameters <a href="#OrderOfTransform"><i><code><span data-if="hdevelop" style="display:inline">OrderOfTransform</span><span data-if="c" style="display:none">OrderOfTransform</span><span data-if="cpp" style="display:none">OrderOfTransform</span><span data-if="com" style="display:none">OrderOfTransform</span><span data-if="dotnet" style="display:none">orderOfTransform</span><span data-if="python" style="display:none">order_of_transform</span></code></i></a>, <a href="#OrderOfRotation"><i><code><span data-if="hdevelop" style="display:inline">OrderOfRotation</span><span data-if="c" style="display:none">OrderOfRotation</span><span data-if="cpp" style="display:none">OrderOfRotation</span><span data-if="com" style="display:none">OrderOfRotation</span><span data-if="dotnet" style="display:none">orderOfRotation</span><span data-if="python" style="display:none">order_of_rotation</span></code></i></a>, and
<a href="#ViewOfTransform"><i><code><span data-if="hdevelop" style="display:inline">ViewOfTransform</span><span data-if="c" style="display:none">ViewOfTransform</span><span data-if="cpp" style="display:none">ViewOfTransform</span><span data-if="com" style="display:none">ViewOfTransform</span><span data-if="dotnet" style="display:none">viewOfTransform</span><span data-if="python" style="display:none">view_of_transform</span></code></i></a>. The following table lists the possible
combinations. As already noted, we recommend to use only the representation
types with <a href="#OrderOfTransform"><i><code><span data-if="hdevelop" style="display:inline">OrderOfTransform</span><span data-if="c" style="display:none">OrderOfTransform</span><span data-if="cpp" style="display:none">OrderOfTransform</span><span data-if="com" style="display:none">OrderOfTransform</span><span data-if="dotnet" style="display:none">orderOfTransform</span><span data-if="python" style="display:none">order_of_transform</span></code></i></a> = <i><span data-if="hdevelop" style="display:inline">'Rp+T'</span><span data-if="c" style="display:none">"Rp+T"</span><span data-if="cpp" style="display:none">"Rp+T"</span><span data-if="com" style="display:none">"Rp+T"</span><span data-if="dotnet" style="display:none">"Rp+T"</span><span data-if="python" style="display:none">"Rp+T"</span></i> and
<a href="#ViewOfTransform"><i><code><span data-if="hdevelop" style="display:inline">ViewOfTransform</span><span data-if="c" style="display:none">ViewOfTransform</span><span data-if="cpp" style="display:none">ViewOfTransform</span><span data-if="com" style="display:none">ViewOfTransform</span><span data-if="dotnet" style="display:none">viewOfTransform</span><span data-if="python" style="display:none">view_of_transform</span></code></i></a> = <i><span data-if="hdevelop" style="display:inline">'point'</span><span data-if="c" style="display:none">"point"</span><span data-if="cpp" style="display:none">"point"</span><span data-if="com" style="display:none">"point"</span><span data-if="dotnet" style="display:none">"point"</span><span data-if="python" style="display:none">"point"</span></i> (codes 0, 2, and 4).
</p>
<div style="text-align:center"><table style="margin-left:auto;margin-right:auto" class="table">
<col span="1">
<col span="1">
<col span="1">
<col span="1">
<tr>
<th style="text-align:center">
<a href="#OrderOfTransform"><i><code><span data-if="hdevelop" style="display:inline">OrderOfTransform</span><span data-if="c" style="display:none">OrderOfTransform</span><span data-if="cpp" style="display:none">OrderOfTransform</span><span data-if="com" style="display:none">OrderOfTransform</span><span data-if="dotnet" style="display:none">orderOfTransform</span><span data-if="python" style="display:none">order_of_transform</span></code></i></a> </th>
<th style="text-align:center"> <a href="#OrderOfRotation"><i><code><span data-if="hdevelop" style="display:inline">OrderOfRotation</span><span data-if="c" style="display:none">OrderOfRotation</span><span data-if="cpp" style="display:none">OrderOfRotation</span><span data-if="com" style="display:none">OrderOfRotation</span><span data-if="dotnet" style="display:none">orderOfRotation</span><span data-if="python" style="display:none">order_of_rotation</span></code></i></a> </th>
<th style="text-align:center">
<a href="#ViewOfTransform"><i><code><span data-if="hdevelop" style="display:inline">ViewOfTransform</span><span data-if="c" style="display:none">ViewOfTransform</span><span data-if="cpp" style="display:none">ViewOfTransform</span><span data-if="com" style="display:none">ViewOfTransform</span><span data-if="dotnet" style="display:none">viewOfTransform</span><span data-if="python" style="display:none">view_of_transform</span></code></i></a> </th>
<th style="text-align:center"> Code</th>
</tr>
<tr>
<td style="text-align:center">
<i><span data-if="hdevelop" style="display:inline">'Rp+T'</span><span data-if="c" style="display:none">"Rp+T"</span><span data-if="cpp" style="display:none">"Rp+T"</span><span data-if="com" style="display:none">"Rp+T"</span><span data-if="dotnet" style="display:none">"Rp+T"</span><span data-if="python" style="display:none">"Rp+T"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'gba'</span><span data-if="c" style="display:none">"gba"</span><span data-if="cpp" style="display:none">"gba"</span><span data-if="com" style="display:none">"gba"</span><span data-if="dotnet" style="display:none">"gba"</span><span data-if="python" style="display:none">"gba"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'point'</span><span data-if="c" style="display:none">"point"</span><span data-if="cpp" style="display:none">"point"</span><span data-if="com" style="display:none">"point"</span><span data-if="dotnet" style="display:none">"point"</span><span data-if="python" style="display:none">"point"</span></i> </td>
<td style="text-align:center"> 0 </td>
</tr>
<tr>
<td style="text-align:center">
<i><span data-if="hdevelop" style="display:inline">'Rp+T'</span><span data-if="c" style="display:none">"Rp+T"</span><span data-if="cpp" style="display:none">"Rp+T"</span><span data-if="com" style="display:none">"Rp+T"</span><span data-if="dotnet" style="display:none">"Rp+T"</span><span data-if="python" style="display:none">"Rp+T"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'abg'</span><span data-if="c" style="display:none">"abg"</span><span data-if="cpp" style="display:none">"abg"</span><span data-if="com" style="display:none">"abg"</span><span data-if="dotnet" style="display:none">"abg"</span><span data-if="python" style="display:none">"abg"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'point'</span><span data-if="c" style="display:none">"point"</span><span data-if="cpp" style="display:none">"point"</span><span data-if="com" style="display:none">"point"</span><span data-if="dotnet" style="display:none">"point"</span><span data-if="python" style="display:none">"point"</span></i> </td>
<td style="text-align:center"> 2 </td>
</tr>
<tr>
<td style="text-align:center">
<i><span data-if="hdevelop" style="display:inline">'Rp+T'</span><span data-if="c" style="display:none">"Rp+T"</span><span data-if="cpp" style="display:none">"Rp+T"</span><span data-if="com" style="display:none">"Rp+T"</span><span data-if="dotnet" style="display:none">"Rp+T"</span><span data-if="python" style="display:none">"Rp+T"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'rodriguez'</span><span data-if="c" style="display:none">"rodriguez"</span><span data-if="cpp" style="display:none">"rodriguez"</span><span data-if="com" style="display:none">"rodriguez"</span><span data-if="dotnet" style="display:none">"rodriguez"</span><span data-if="python" style="display:none">"rodriguez"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'point'</span><span data-if="c" style="display:none">"point"</span><span data-if="cpp" style="display:none">"point"</span><span data-if="com" style="display:none">"point"</span><span data-if="dotnet" style="display:none">"point"</span><span data-if="python" style="display:none">"point"</span></i> </td>
<td style="text-align:center"> 4 </td>
</tr>
<tr>
<td style="text-align:center">
<i><span data-if="hdevelop" style="display:inline">'Rp+T'</span><span data-if="c" style="display:none">"Rp+T"</span><span data-if="cpp" style="display:none">"Rp+T"</span><span data-if="com" style="display:none">"Rp+T"</span><span data-if="dotnet" style="display:none">"Rp+T"</span><span data-if="python" style="display:none">"Rp+T"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'gba'</span><span data-if="c" style="display:none">"gba"</span><span data-if="cpp" style="display:none">"gba"</span><span data-if="com" style="display:none">"gba"</span><span data-if="dotnet" style="display:none">"gba"</span><span data-if="python" style="display:none">"gba"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'coordinate_system'</span><span data-if="c" style="display:none">"coordinate_system"</span><span data-if="cpp" style="display:none">"coordinate_system"</span><span data-if="com" style="display:none">"coordinate_system"</span><span data-if="dotnet" style="display:none">"coordinate_system"</span><span data-if="python" style="display:none">"coordinate_system"</span></i> </td>
<td style="text-align:center"> 1 </td>
</tr>
<tr>
<td style="text-align:center">
<i><span data-if="hdevelop" style="display:inline">'Rp+T'</span><span data-if="c" style="display:none">"Rp+T"</span><span data-if="cpp" style="display:none">"Rp+T"</span><span data-if="com" style="display:none">"Rp+T"</span><span data-if="dotnet" style="display:none">"Rp+T"</span><span data-if="python" style="display:none">"Rp+T"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'abg'</span><span data-if="c" style="display:none">"abg"</span><span data-if="cpp" style="display:none">"abg"</span><span data-if="com" style="display:none">"abg"</span><span data-if="dotnet" style="display:none">"abg"</span><span data-if="python" style="display:none">"abg"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'coordinate_system'</span><span data-if="c" style="display:none">"coordinate_system"</span><span data-if="cpp" style="display:none">"coordinate_system"</span><span data-if="com" style="display:none">"coordinate_system"</span><span data-if="dotnet" style="display:none">"coordinate_system"</span><span data-if="python" style="display:none">"coordinate_system"</span></i> </td>
<td style="text-align:center"> 3 </td>
</tr>
<tr>
<td style="text-align:center">
<i><span data-if="hdevelop" style="display:inline">'Rp+T'</span><span data-if="c" style="display:none">"Rp+T"</span><span data-if="cpp" style="display:none">"Rp+T"</span><span data-if="com" style="display:none">"Rp+T"</span><span data-if="dotnet" style="display:none">"Rp+T"</span><span data-if="python" style="display:none">"Rp+T"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'rodriguez'</span><span data-if="c" style="display:none">"rodriguez"</span><span data-if="cpp" style="display:none">"rodriguez"</span><span data-if="com" style="display:none">"rodriguez"</span><span data-if="dotnet" style="display:none">"rodriguez"</span><span data-if="python" style="display:none">"rodriguez"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'coordinate_system'</span><span data-if="c" style="display:none">"coordinate_system"</span><span data-if="cpp" style="display:none">"coordinate_system"</span><span data-if="com" style="display:none">"coordinate_system"</span><span data-if="dotnet" style="display:none">"coordinate_system"</span><span data-if="python" style="display:none">"coordinate_system"</span></i>
</td>
<td style="text-align:center"> 5 </td>
</tr>
<tr>
<td style="text-align:center">
<i><span data-if="hdevelop" style="display:inline">'R(p-T)'</span><span data-if="c" style="display:none">"R(p-T)"</span><span data-if="cpp" style="display:none">"R(p-T)"</span><span data-if="com" style="display:none">"R(p-T)"</span><span data-if="dotnet" style="display:none">"R(p-T)"</span><span data-if="python" style="display:none">"R(p-T)"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'gba'</span><span data-if="c" style="display:none">"gba"</span><span data-if="cpp" style="display:none">"gba"</span><span data-if="com" style="display:none">"gba"</span><span data-if="dotnet" style="display:none">"gba"</span><span data-if="python" style="display:none">"gba"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'point'</span><span data-if="c" style="display:none">"point"</span><span data-if="cpp" style="display:none">"point"</span><span data-if="com" style="display:none">"point"</span><span data-if="dotnet" style="display:none">"point"</span><span data-if="python" style="display:none">"point"</span></i> </td>
<td style="text-align:center"> 8 </td>
</tr>
<tr>
<td style="text-align:center">
<i><span data-if="hdevelop" style="display:inline">'R(p-T)'</span><span data-if="c" style="display:none">"R(p-T)"</span><span data-if="cpp" style="display:none">"R(p-T)"</span><span data-if="com" style="display:none">"R(p-T)"</span><span data-if="dotnet" style="display:none">"R(p-T)"</span><span data-if="python" style="display:none">"R(p-T)"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'abg'</span><span data-if="c" style="display:none">"abg"</span><span data-if="cpp" style="display:none">"abg"</span><span data-if="com" style="display:none">"abg"</span><span data-if="dotnet" style="display:none">"abg"</span><span data-if="python" style="display:none">"abg"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'point'</span><span data-if="c" style="display:none">"point"</span><span data-if="cpp" style="display:none">"point"</span><span data-if="com" style="display:none">"point"</span><span data-if="dotnet" style="display:none">"point"</span><span data-if="python" style="display:none">"point"</span></i> </td>
<td style="text-align:center"> 10 </td>
</tr>
<tr>
<td style="text-align:center">
<i><span data-if="hdevelop" style="display:inline">'R(p-T)'</span><span data-if="c" style="display:none">"R(p-T)"</span><span data-if="cpp" style="display:none">"R(p-T)"</span><span data-if="com" style="display:none">"R(p-T)"</span><span data-if="dotnet" style="display:none">"R(p-T)"</span><span data-if="python" style="display:none">"R(p-T)"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'rodriguez'</span><span data-if="c" style="display:none">"rodriguez"</span><span data-if="cpp" style="display:none">"rodriguez"</span><span data-if="com" style="display:none">"rodriguez"</span><span data-if="dotnet" style="display:none">"rodriguez"</span><span data-if="python" style="display:none">"rodriguez"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'point'</span><span data-if="c" style="display:none">"point"</span><span data-if="cpp" style="display:none">"point"</span><span data-if="com" style="display:none">"point"</span><span data-if="dotnet" style="display:none">"point"</span><span data-if="python" style="display:none">"point"</span></i> </td>
<td style="text-align:center"> 12 </td>
</tr>
<tr>
<td style="text-align:center">
<i><span data-if="hdevelop" style="display:inline">'R(p-T)'</span><span data-if="c" style="display:none">"R(p-T)"</span><span data-if="cpp" style="display:none">"R(p-T)"</span><span data-if="com" style="display:none">"R(p-T)"</span><span data-if="dotnet" style="display:none">"R(p-T)"</span><span data-if="python" style="display:none">"R(p-T)"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'gba'</span><span data-if="c" style="display:none">"gba"</span><span data-if="cpp" style="display:none">"gba"</span><span data-if="com" style="display:none">"gba"</span><span data-if="dotnet" style="display:none">"gba"</span><span data-if="python" style="display:none">"gba"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'coordinate_system'</span><span data-if="c" style="display:none">"coordinate_system"</span><span data-if="cpp" style="display:none">"coordinate_system"</span><span data-if="com" style="display:none">"coordinate_system"</span><span data-if="dotnet" style="display:none">"coordinate_system"</span><span data-if="python" style="display:none">"coordinate_system"</span></i>
</td>
<td style="text-align:center"> 9 </td>
</tr>
<tr>
<td style="text-align:center">
<i><span data-if="hdevelop" style="display:inline">'R(p-T)'</span><span data-if="c" style="display:none">"R(p-T)"</span><span data-if="cpp" style="display:none">"R(p-T)"</span><span data-if="com" style="display:none">"R(p-T)"</span><span data-if="dotnet" style="display:none">"R(p-T)"</span><span data-if="python" style="display:none">"R(p-T)"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'abg'</span><span data-if="c" style="display:none">"abg"</span><span data-if="cpp" style="display:none">"abg"</span><span data-if="com" style="display:none">"abg"</span><span data-if="dotnet" style="display:none">"abg"</span><span data-if="python" style="display:none">"abg"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'coordinate_system'</span><span data-if="c" style="display:none">"coordinate_system"</span><span data-if="cpp" style="display:none">"coordinate_system"</span><span data-if="com" style="display:none">"coordinate_system"</span><span data-if="dotnet" style="display:none">"coordinate_system"</span><span data-if="python" style="display:none">"coordinate_system"</span></i>
</td>
<td style="text-align:center"> 11 </td>
</tr>
<tr>
<td style="text-align:center">
<i><span data-if="hdevelop" style="display:inline">'R(p-T)'</span><span data-if="c" style="display:none">"R(p-T)"</span><span data-if="cpp" style="display:none">"R(p-T)"</span><span data-if="com" style="display:none">"R(p-T)"</span><span data-if="dotnet" style="display:none">"R(p-T)"</span><span data-if="python" style="display:none">"R(p-T)"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'rodriguez'</span><span data-if="c" style="display:none">"rodriguez"</span><span data-if="cpp" style="display:none">"rodriguez"</span><span data-if="com" style="display:none">"rodriguez"</span><span data-if="dotnet" style="display:none">"rodriguez"</span><span data-if="python" style="display:none">"rodriguez"</span></i> </td>
<td style="text-align:center"> <i><span data-if="hdevelop" style="display:inline">'coordinate_system'</span><span data-if="c" style="display:none">"coordinate_system"</span><span data-if="cpp" style="display:none">"coordinate_system"</span><span data-if="com" style="display:none">"coordinate_system"</span><span data-if="dotnet" style="display:none">"coordinate_system"</span><span data-if="python" style="display:none">"coordinate_system"</span></i>
</td>
<td style="text-align:center"> 13
</td>
</tr>
</table></div>

<p>You can convert poses into other representation types using
<a href="convert_pose_type.html"><code><span data-if="hdevelop" style="display:inline">convert_pose_type</span><span data-if="c" style="display:none">convert_pose_type</span><span data-if="cpp" style="display:none">ConvertPoseType</span><span data-if="com" style="display:none">ConvertPoseType</span><span data-if="dotnet" style="display:none">ConvertPoseType</span><span data-if="python" style="display:none">convert_pose_type</span></code></a> and query the type using <a href="get_pose_type.html"><code><span data-if="hdevelop" style="display:inline">get_pose_type</span><span data-if="c" style="display:none">get_pose_type</span><span data-if="cpp" style="display:none">GetPoseType</span><span data-if="com" style="display:none">GetPoseType</span><span data-if="dotnet" style="display:none">GetPoseType</span><span data-if="python" style="display:none">get_pose_type</span></code></a>.  </p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  <li>未经并行化处理。</li>
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="TransX" class="parname"><b><code><span data-if="hdevelop" style="display:inline">TransX</span><span data-if="c" style="display:none">TransX</span><span data-if="cpp" style="display:none">TransX</span><span data-if="com" style="display:none">TransX</span><span data-if="dotnet" style="display:none">transX</span><span data-if="python" style="display:none">trans_x</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Translation along the x-axis (in [m]).</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0.1</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>-1.0, -0.75, -0.5, -0.25, -0.2, -0.1, -0.5, -0.25, -0.125, -0.01, 0.0, 0.01, 0.125, 0.25, 0.5, 0.1, 0.2, 0.25, 0.5, 0.75, 1.0</p>
</div>
  <div class="par">
<div class="parhead">
<span id="TransY" class="parname"><b><code><span data-if="hdevelop" style="display:inline">TransY</span><span data-if="c" style="display:none">TransY</span><span data-if="cpp" style="display:none">TransY</span><span data-if="com" style="display:none">TransY</span><span data-if="dotnet" style="display:none">transY</span><span data-if="python" style="display:none">trans_y</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Translation along the y-axis (in [m]).</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0.1</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>-1.0, -0.75, -0.5, -0.25, -0.2, -0.1, -0.5, -0.25, -0.125, -0.01, 0.0, 0.01, 0.125, 0.25, 0.5, 0.1, 0.2, 0.25, 0.5, 0.75, 1.0</p>
</div>
  <div class="par">
<div class="parhead">
<span id="TransZ" class="parname"><b><code><span data-if="hdevelop" style="display:inline">TransZ</span><span data-if="c" style="display:none">TransZ</span><span data-if="cpp" style="display:none">TransZ</span><span data-if="com" style="display:none">TransZ</span><span data-if="dotnet" style="display:none">transZ</span><span data-if="python" style="display:none">trans_z</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Translation along the z-axis (in [m]).</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0.1</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>-1.0, -0.75, -0.5, -0.25, -0.2, -0.1, -0.5, -0.25, -0.125, -0.01, 0.0, 0.01, 0.125, 0.25, 0.5, 0.1, 0.2, 0.25, 0.5, 0.75, 1.0</p>
</div>
  <div class="par">
<div class="parhead">
<span id="RotX" class="parname"><b><code><span data-if="hdevelop" style="display:inline">RotX</span><span data-if="c" style="display:none">RotX</span><span data-if="cpp" style="display:none">RotX</span><span data-if="com" style="display:none">RotX</span><span data-if="dotnet" style="display:none">rotX</span><span data-if="python" style="display:none">rot_x</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Rotation around x-axis or x component of the Rodriguez
vector (in [°] or without unit).</p>
<p class="pardesc"><span class="parcat">Default:
      </span>90.0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0.0, 90.0, 180.0, 270.0</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>0
          ≤
        
    <span data-if="hdevelop" style="display:inline">RotX</span>
    <span data-if="c" style="display:none">RotX</span>
    <span data-if="cpp" style="display:none">RotX</span>
    <span data-if="com" style="display:none">RotX</span>
    <span data-if="dotnet" style="display:none">rotX</span>
    <span data-if="python" style="display:none">rot_x</span>
    
          ≤
          360</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="RotY" class="parname"><b><code><span data-if="hdevelop" style="display:inline">RotY</span><span data-if="c" style="display:none">RotY</span><span data-if="cpp" style="display:none">RotY</span><span data-if="com" style="display:none">RotY</span><span data-if="dotnet" style="display:none">rotY</span><span data-if="python" style="display:none">rot_y</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Rotation around y-axis or y component of the Rodriguez
vector (in [°] or without unit).</p>
<p class="pardesc"><span class="parcat">Default:
      </span>90.0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0.0, 90.0, 180.0, 270.0</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>0
          ≤
        
    <span data-if="hdevelop" style="display:inline">RotY</span>
    <span data-if="c" style="display:none">RotY</span>
    <span data-if="cpp" style="display:none">RotY</span>
    <span data-if="com" style="display:none">RotY</span>
    <span data-if="dotnet" style="display:none">rotY</span>
    <span data-if="python" style="display:none">rot_y</span>
    
          ≤
          360</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="RotZ" class="parname"><b><code><span data-if="hdevelop" style="display:inline">RotZ</span><span data-if="c" style="display:none">RotZ</span><span data-if="cpp" style="display:none">RotZ</span><span data-if="com" style="display:none">RotZ</span><span data-if="dotnet" style="display:none">rotZ</span><span data-if="python" style="display:none">rot_z</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Rotation around z-axis or z component of the Rodriguez
vector (in [°] or without unit).</p>
<p class="pardesc"><span class="parcat">Default:
      </span>90.0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0.0, 90.0, 180.0, 270.0</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>0
          ≤
        
    <span data-if="hdevelop" style="display:inline">RotZ</span>
    <span data-if="c" style="display:none">RotZ</span>
    <span data-if="cpp" style="display:none">RotZ</span>
    <span data-if="com" style="display:none">RotZ</span>
    <span data-if="dotnet" style="display:none">rotZ</span>
    <span data-if="python" style="display:none">rot_z</span>
    
          ≤
          360</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="OrderOfTransform" class="parname"><b><code><span data-if="hdevelop" style="display:inline">OrderOfTransform</span><span data-if="c" style="display:none">OrderOfTransform</span><span data-if="cpp" style="display:none">OrderOfTransform</span><span data-if="com" style="display:none">OrderOfTransform</span><span data-if="dotnet" style="display:none">orderOfTransform</span><span data-if="python" style="display:none">order_of_transform</span></code></b> (input_control)  </span><span>string <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Order of rotation and translation.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'Rp+T'</span>
    <span data-if="c" style="display:none">"Rp+T"</span>
    <span data-if="cpp" style="display:none">"Rp+T"</span>
    <span data-if="com" style="display:none">"Rp+T"</span>
    <span data-if="dotnet" style="display:none">"Rp+T"</span>
    <span data-if="python" style="display:none">"Rp+T"</span>
</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span><span data-if="hdevelop" style="display:inline">'Rp+T'</span><span data-if="c" style="display:none">"Rp+T"</span><span data-if="cpp" style="display:none">"Rp+T"</span><span data-if="com" style="display:none">"Rp+T"</span><span data-if="dotnet" style="display:none">"Rp+T"</span><span data-if="python" style="display:none">"Rp+T"</span>, <span data-if="hdevelop" style="display:inline">'R(p-T)'</span><span data-if="c" style="display:none">"R(p-T)"</span><span data-if="cpp" style="display:none">"R(p-T)"</span><span data-if="com" style="display:none">"R(p-T)"</span><span data-if="dotnet" style="display:none">"R(p-T)"</span><span data-if="python" style="display:none">"R(p-T)"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="OrderOfRotation" class="parname"><b><code><span data-if="hdevelop" style="display:inline">OrderOfRotation</span><span data-if="c" style="display:none">OrderOfRotation</span><span data-if="cpp" style="display:none">OrderOfRotation</span><span data-if="com" style="display:none">OrderOfRotation</span><span data-if="dotnet" style="display:none">orderOfRotation</span><span data-if="python" style="display:none">order_of_rotation</span></code></b> (input_control)  </span><span>string <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Meaning of the rotation values.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'gba'</span>
    <span data-if="c" style="display:none">"gba"</span>
    <span data-if="cpp" style="display:none">"gba"</span>
    <span data-if="com" style="display:none">"gba"</span>
    <span data-if="dotnet" style="display:none">"gba"</span>
    <span data-if="python" style="display:none">"gba"</span>
</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span><span data-if="hdevelop" style="display:inline">'gba'</span><span data-if="c" style="display:none">"gba"</span><span data-if="cpp" style="display:none">"gba"</span><span data-if="com" style="display:none">"gba"</span><span data-if="dotnet" style="display:none">"gba"</span><span data-if="python" style="display:none">"gba"</span>, <span data-if="hdevelop" style="display:inline">'abg'</span><span data-if="c" style="display:none">"abg"</span><span data-if="cpp" style="display:none">"abg"</span><span data-if="com" style="display:none">"abg"</span><span data-if="dotnet" style="display:none">"abg"</span><span data-if="python" style="display:none">"abg"</span>, <span data-if="hdevelop" style="display:inline">'rodriguez'</span><span data-if="c" style="display:none">"rodriguez"</span><span data-if="cpp" style="display:none">"rodriguez"</span><span data-if="com" style="display:none">"rodriguez"</span><span data-if="dotnet" style="display:none">"rodriguez"</span><span data-if="python" style="display:none">"rodriguez"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="ViewOfTransform" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ViewOfTransform</span><span data-if="c" style="display:none">ViewOfTransform</span><span data-if="cpp" style="display:none">ViewOfTransform</span><span data-if="com" style="display:none">ViewOfTransform</span><span data-if="dotnet" style="display:none">viewOfTransform</span><span data-if="python" style="display:none">view_of_transform</span></code></b> (input_control)  </span><span>string <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">View of transformation.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'point'</span>
    <span data-if="c" style="display:none">"point"</span>
    <span data-if="cpp" style="display:none">"point"</span>
    <span data-if="com" style="display:none">"point"</span>
    <span data-if="dotnet" style="display:none">"point"</span>
    <span data-if="python" style="display:none">"point"</span>
</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span><span data-if="hdevelop" style="display:inline">'point'</span><span data-if="c" style="display:none">"point"</span><span data-if="cpp" style="display:none">"point"</span><span data-if="com" style="display:none">"point"</span><span data-if="dotnet" style="display:none">"point"</span><span data-if="python" style="display:none">"point"</span>, <span data-if="hdevelop" style="display:inline">'coordinate_system'</span><span data-if="c" style="display:none">"coordinate_system"</span><span data-if="cpp" style="display:none">"coordinate_system"</span><span data-if="com" style="display:none">"coordinate_system"</span><span data-if="dotnet" style="display:none">"coordinate_system"</span><span data-if="python" style="display:none">"coordinate_system"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="Pose" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Pose</span><span data-if="c" style="display:none">Pose</span><span data-if="cpp" style="display:none">Pose</span><span data-if="com" style="display:none">Pose</span><span data-if="dotnet" style="display:none">pose</span><span data-if="python" style="display:none">pose</span></code></b> (output_control)  </span><span>pose <code>→</code> <span data-if="dotnet" style="display:none"><a href="HPose.html">HPose</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">3D pose.</p>
<p class="pardesc"><span class="parcat">Number of elements:
      </span>7</p>
</div>
<div data-if="hdevelop" style="display:inline">
<h2 id="sec_example_hdevelop">例程 (HDevelop)</h2>
<pre class="example">
* Create a pose.
create_pose (0.1, 0.2, 0.3, 40, 50, 60, 'Rp+T', 'gba', 'point', Pose)
</pre>
</div>
<div data-if="c" style="display:none">
<h2 id="sec_example_c">例程 (HDevelop)</h2>
<pre class="example">
* Create a pose.
create_pose (0.1, 0.2, 0.3, 40, 50, 60, 'Rp+T', 'gba', 'point', Pose)
</pre>
</div>
<div data-if="cpp" style="display:none">
<h2 id="sec_example_cpp">例程 (HDevelop)</h2>
<pre class="example">
* Create a pose.
create_pose (0.1, 0.2, 0.3, 40, 50, 60, 'Rp+T', 'gba', 'point', Pose)
</pre>
</div>
<div data-if="com" style="display:none">
<h2 id="sec_example_com">例程 (HDevelop)</h2>
<pre class="example">
* Create a pose.
create_pose (0.1, 0.2, 0.3, 40, 50, 60, 'Rp+T', 'gba', 'point', Pose)
</pre>
</div>
<div data-if="dotnet" style="display:none">
<h2 id="sec_example_dotnet">例程 (HDevelop)</h2>
<pre class="example">
* Create a pose.
create_pose (0.1, 0.2, 0.3, 40, 50, 60, 'Rp+T', 'gba', 'point', Pose)
</pre>
</div>
<h2 id="sec_result">结果</h2>
<p><code><span data-if="hdevelop" style="display:inline">create_pose</span><span data-if="c" style="display:none">create_pose</span><span data-if="cpp" style="display:none">CreatePose</span><span data-if="com" style="display:none">CreatePose</span><span data-if="dotnet" style="display:none">CreatePose</span><span data-if="python" style="display:none">create_pose</span></code> returns <TT>2</TT> (
      <TT>H_MSG_TRUE</TT>)
     if all parameter values are
correct. 如有必要，将引发异常。</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="pose_to_hom_mat3d.html"><span data-if="hdevelop" style="display:inline">pose_to_hom_mat3d</span><span data-if="c" style="display:none">pose_to_hom_mat3d</span><span data-if="cpp" style="display:none">PoseToHomMat3d</span><span data-if="com" style="display:none">PoseToHomMat3d</span><span data-if="dotnet" style="display:none">PoseToHomMat3d</span><span data-if="python" style="display:none">pose_to_hom_mat3d</span></a></code>, 
<code><a href="write_pose.html"><span data-if="hdevelop" style="display:inline">write_pose</span><span data-if="c" style="display:none">write_pose</span><span data-if="cpp" style="display:none">WritePose</span><span data-if="com" style="display:none">WritePose</span><span data-if="dotnet" style="display:none">WritePose</span><span data-if="python" style="display:none">write_pose</span></a></code>, 
<code><a href="camera_calibration.html"><span data-if="hdevelop" style="display:inline">camera_calibration</span><span data-if="c" style="display:none">camera_calibration</span><span data-if="cpp" style="display:none">CameraCalibration</span><span data-if="com" style="display:none">CameraCalibration</span><span data-if="dotnet" style="display:none">CameraCalibration</span><span data-if="python" style="display:none">camera_calibration</span></a></code>, 
<code><a href="hand_eye_calibration.html"><span data-if="hdevelop" style="display:inline">hand_eye_calibration</span><span data-if="c" style="display:none">hand_eye_calibration</span><span data-if="cpp" style="display:none">HandEyeCalibration</span><span data-if="com" style="display:none">HandEyeCalibration</span><span data-if="dotnet" style="display:none">HandEyeCalibration</span><span data-if="python" style="display:none">hand_eye_calibration</span></a></code>
</p>
<h2 id="sec_alternatives">可替代算子</h2>
<p>
<code><a href="read_pose.html"><span data-if="hdevelop" style="display:inline">read_pose</span><span data-if="c" style="display:none">read_pose</span><span data-if="cpp" style="display:none">ReadPose</span><span data-if="com" style="display:none">ReadPose</span><span data-if="dotnet" style="display:none">ReadPose</span><span data-if="python" style="display:none">read_pose</span></a></code>, 
<code><a href="hom_mat3d_to_pose.html"><span data-if="hdevelop" style="display:inline">hom_mat3d_to_pose</span><span data-if="c" style="display:none">hom_mat3d_to_pose</span><span data-if="cpp" style="display:none">HomMat3dToPose</span><span data-if="com" style="display:none">HomMat3dToPose</span><span data-if="dotnet" style="display:none">HomMat3dToPose</span><span data-if="python" style="display:none">hom_mat3d_to_pose</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="hom_mat3d_rotate.html"><span data-if="hdevelop" style="display:inline">hom_mat3d_rotate</span><span data-if="c" style="display:none">hom_mat3d_rotate</span><span data-if="cpp" style="display:none">HomMat3dRotate</span><span data-if="com" style="display:none">HomMat3dRotate</span><span data-if="dotnet" style="display:none">HomMat3dRotate</span><span data-if="python" style="display:none">hom_mat3d_rotate</span></a></code>, 
<code><a href="hom_mat3d_translate.html"><span data-if="hdevelop" style="display:inline">hom_mat3d_translate</span><span data-if="c" style="display:none">hom_mat3d_translate</span><span data-if="cpp" style="display:none">HomMat3dTranslate</span><span data-if="com" style="display:none">HomMat3dTranslate</span><span data-if="dotnet" style="display:none">HomMat3dTranslate</span><span data-if="python" style="display:none">hom_mat3d_translate</span></a></code>, 
<code><a href="convert_pose_type.html"><span data-if="hdevelop" style="display:inline">convert_pose_type</span><span data-if="c" style="display:none">convert_pose_type</span><span data-if="cpp" style="display:none">ConvertPoseType</span><span data-if="com" style="display:none">ConvertPoseType</span><span data-if="dotnet" style="display:none">ConvertPoseType</span><span data-if="python" style="display:none">convert_pose_type</span></a></code>, 
<code><a href="get_pose_type.html"><span data-if="hdevelop" style="display:inline">get_pose_type</span><span data-if="c" style="display:none">get_pose_type</span><span data-if="cpp" style="display:none">GetPoseType</span><span data-if="com" style="display:none">GetPoseType</span><span data-if="dotnet" style="display:none">GetPoseType</span><span data-if="python" style="display:none">get_pose_type</span></a></code>, 
<code><a href="hom_mat3d_to_pose.html"><span data-if="hdevelop" style="display:inline">hom_mat3d_to_pose</span><span data-if="c" style="display:none">hom_mat3d_to_pose</span><span data-if="cpp" style="display:none">HomMat3dToPose</span><span data-if="com" style="display:none">HomMat3dToPose</span><span data-if="dotnet" style="display:none">HomMat3dToPose</span><span data-if="python" style="display:none">hom_mat3d_to_pose</span></a></code>, 
<code><a href="pose_to_hom_mat3d.html"><span data-if="hdevelop" style="display:inline">pose_to_hom_mat3d</span><span data-if="c" style="display:none">pose_to_hom_mat3d</span><span data-if="cpp" style="display:none">PoseToHomMat3d</span><span data-if="com" style="display:none">PoseToHomMat3d</span><span data-if="dotnet" style="display:none">PoseToHomMat3d</span><span data-if="python" style="display:none">pose_to_hom_mat3d</span></a></code>, 
<code><a href="write_pose.html"><span data-if="hdevelop" style="display:inline">write_pose</span><span data-if="c" style="display:none">write_pose</span><span data-if="cpp" style="display:none">WritePose</span><span data-if="com" style="display:none">WritePose</span><span data-if="dotnet" style="display:none">WritePose</span><span data-if="python" style="display:none">write_pose</span></a></code>, 
<code><a href="read_pose.html"><span data-if="hdevelop" style="display:inline">read_pose</span><span data-if="c" style="display:none">read_pose</span><span data-if="cpp" style="display:none">ReadPose</span><span data-if="com" style="display:none">ReadPose</span><span data-if="dotnet" style="display:none">ReadPose</span><span data-if="python" style="display:none">read_pose</span></a></code>
</p>
<h2 id="sec_module">模块</h2>
<p>
Foundation</p>
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